Index: trunk/extremum_seeking/esc_nn/include/esc_nn/nn_esc_1d.h
===================================================================
--- trunk/extremum_seeking/esc_nn/include/esc_nn/nn_esc_1d.h	(revision 5)
+++ trunk/extremum_seeking/esc_nn/include/esc_nn/nn_esc_1d.h	(revision 13)
@@ -47,4 +47,5 @@
 	double minPeakDetect(double e_minus);
 	double aSwitch(double e);
+	void reset();
 
 };
Index: trunk/extremum_seeking/esc_nn/include/esc_nn/nn_esc_2d.h
===================================================================
--- trunk/extremum_seeking/esc_nn/include/esc_nn/nn_esc_2d.h	(revision 5)
+++ trunk/extremum_seeking/esc_nn/include/esc_nn/nn_esc_2d.h	(revision 13)
@@ -25,5 +25,5 @@
 
 protected:
-	double A_,M_,ddelta1_,ddelta2_,ddelta3_,A,delta_,B_, mpd_init_, w_switch_old_, a_switch1_old_, a_switch2_old_, a_switch3_old_,yr_,period_;
+	double A_,M_,ddelta1_,ddelta2_,ddelta3_,delta_,B_, mpd_init_, w_switch_old_, a_switch1_old_, a_switch2_old_, a_switch3_old_,yr_,period_;
 	double min_peak_,w_switch_;
 	std::vector<double> vel_ref_;
@@ -42,7 +42,8 @@
 	std::vector<double> monitor();
 	std::vector<std::string> monitorNames();
+	void reset();
 protected:
-	double wSwitch(double e_minus);
-	double minPeakDetect(double e_minus);
+	double wSwitch(double e);
+	double minPeakDetect(double e);
 	double aSwitch1(double e);
 	double aSwitch2(double e);